A method of mopping a floor by a cleaning robot

Abstract

The application relates to a mopping method of a cleaning robot and belongs to the technical field of intelligent cleaning equipment. The bottom of the cleaning robot is provided with a mopping piece. The mopping method comprises the following steps: the cleaning robot travels along a first path for cleaning; then, the cleaning robot travels along a second path adjacent to the first path for cleaning; wherein, the mopping piece has an overlapping area when the cleaning robot travels along the first path and when the cleaning robot travels along the second path; when the mopping piece is a double-circular rotating piece, the width L1 of the overlapping area satisfies 0.1R1<=L1<=0.4R1, R1 is the radius of the circular rotating piece; when the mopping piece is a crescent-shaped fixed piece, the width L2 of the overlapping area satisfies 0.1R2<=L2<=0.45R2, R2 is the radius of a circle corresponding to the crescent-shaped fixed piece. By limiting the width of the overlapping area of the adjacent paths of the cleaning robot in the mopping cleaning process, the problem of uneven cleaning caused by the size difference between the two sides and the middle position of the mop is solved. The waste of the power of the cleaning robot is avoided, and the cleaning work efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent cleaning equipment technology, and more specifically, to a mopping method using a cleaning robot. Background Technology

[0002] Currently, the cleaning coverage area of ​​cleaning robots on the market is calculated based on the width of the mop when mopping.

[0003] Since the size of the mop head directly affects the degree of cleaning, mops are typically narrower at the sides and wider in the middle, such as round or crescent-shaped mops. When a cleaning robot cleans along a path, it can divide the mop head into three equal parts, with the middle part having a larger area than the parts on the sides. This results in uneven cleaning, with the middle part of the cleaning path being cleaner than the parts on the sides. Summary of the Invention

[0004] The purpose of this invention is to provide a mopping method for a cleaning robot that can compensate for the uneven cleaning caused by the different sizes of the two sides and the middle of the mop.

[0005] To achieve the above objectives, the present invention provides a mopping method for a cleaning robot, wherein the bottom of the cleaning robot is provided with a mopping component, and the mopping method includes:

[0006] The cleaning robot moves along the first path to clean;

[0007] Then, the cleaning robot proceeds to clean along a second path adjacent to the first path;

[0008] The cleaning robot has overlapping areas when it travels along the first path and when it travels along the second path;

[0009] When the wiping component is a double-circular rotating component, the width L1 of the overlapping area satisfies 0.1R1≤L1≤0.4R1, where R1 is the radius of the circular rotating component; when the wiping component is a crescent-shaped fixing component, the width L2 of the overlapping area satisfies 0.1R2≤L2≤0.45R2, where R2 is the radius of the circle corresponding to the crescent-shaped fixing component.

[0010] Optionally, in one embodiment, when the wiping member is a double-circular rotating member, the overlapping area L1 = 0.25R1.

[0011] Optionally, in one embodiment, the walking path of the cleaning robot is a bow-shaped path or a square-shaped path, and the first path and the second path are a segment of the bow-shaped path or the square-shaped path.

[0012] Optionally, in one embodiment, when the walking path of the cleaning robot is a bow-shaped path, the first path and the second path are two adjacent segments of the bow-shaped path with opposite directions of travel.

[0013] Optionally, in one embodiment, when the cleaning robot's walking path is a U-shaped path, the first path and the second path are two segments of the two adjacent loops in the U-shaped path that travel in the same direction.

[0014] Optionally, in one embodiment, the cleaning robot has a side brush at its bottom front end.

[0015] Alternatively, in one embodiment, the mopping component is located at the bottom rear end of the cleaning robot.

[0016] Optionally, in one embodiment, when the wiping component is a double-circular rotating component, the edges of the two circular rotating components have an intersecting portion, and the width of the intersecting portion on the line connecting the centers of the two circles is 1 to 5 mm.

[0017] Optionally, in one embodiment, the mopping component includes a mop body and an edge, the edge having outwardly extending cleaning strips, and the intersecting portion being the part where the cleaning strips of two mopping components intersect.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] This invention limits the width of the overlapping area between adjacent paths during the mopping process of a cleaning robot. On the one hand, limiting the minimum width of the overlapping area compensates for the uneven cleaning caused by the different sizes of the mop's sides and center. On the other hand, limiting the maximum width of the overlapping area avoids wasting the cleaning robot's power and improves cleaning efficiency. Attached Figure Description

[0020] Figure 1 This is a flowchart of the mopping method in the embodiments of this application;

[0021] Figure 2 This is a schematic diagram of the structure of the mopping component in the embodiments of this application when it is a double-circular rotating mopping component;

[0022] Figure 3 This is a state diagram of the reciprocating cleaning process when the mopping component in this embodiment is a double-circular rotating mopping component;

[0023] Figure 4 This is a schematic diagram of the line segments along which the dirt spots travel on the circular mop in the embodiments of this application;

[0024] Figure 5 This is a diagram showing the relationship between the degree of cleaning and the mopping width in an embodiment of this application;

[0025] Figure 6 This is a diagram showing the relationship between the width L1 of the overlapping area and the length of the circular mop in the vertical direction in an embodiment of this application.

[0026] Figure 7 This is a graph showing the functional relationship between the cleaning degree f(x), the average cleaning degree EX, and the width L1 of the overlapping area when the mopping component is a double-circular rotating mopping component in the embodiments of this application.

[0027] Figure 8 This is a graph showing the functional relationship between the cleaning degree variance DX and the overlap area width L1 when the mopping component is a double-circular rotating mopping component in the embodiments of this application.

[0028] Figure 9 This is a schematic diagram showing the value of the width L1 of the overlapping area between the first path and the second path;

[0029] Figure 10 This is a schematic diagram of the structure of the mopping component in this application embodiment when it is a crescent-shaped fixing component;

[0030] Figure 11 This is a state diagram of the reciprocating cleaning process when the mop is a crescent-shaped fixing member in the embodiments of this application;

[0031] Figure 12 This is a diagram showing the relationship between the width L2 of the overlapping area and the length of the crescent-shaped fixed mop in the vertical direction in the embodiments of this application;

[0032] Figure 13 This is a graph showing the function curves of cleaning degree f(x), average cleaning degree EX, and overlapping area width L2 when the mopping component is a crescent-shaped fixing component in the embodiments of this application.

[0033] Figure 14 This is a graph showing the functional relationship between the cleaning degree variance DX and the overlap area width L2 when the mopping component is a crescent-shaped fixing component in the embodiments of this application.

[0034] Figure 15 This is a schematic diagram showing the value of the overlapping area width L2 in the embodiments of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below in conjunction with embodiments and accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the described embodiments without creative effort are within the scope of protection of this invention.

[0036] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "comprising" or "including," and similar terms used in this invention, mean that the element or object preceding the term encompasses the elements or objects listed following the term and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] This application provides a mopping method using a cleaning robot, wherein the cleaning robot includes a main unit and a mopping component disposed at the bottom of the main unit.

[0038] The main unit is driven by drive wheels, which in turn move the mopping component to clean the floor. A roller brush is located at the front bottom of the main unit, while the mopping component is located at the rear bottom. The roller brush pre-cleans the floor, removing dust and other debris before mopping, thus improving cleaning efficiency.

[0039] The mopping component can be a rotary mopping component, which rotates relative to the ground under the drive of the cleaning robot to mop and clean the ground. It can also be a fixed mopping component, which moves relative to the ground as the cleaning robot moves to mop and clean the ground.

[0040] See Figure 1 The mopping method of the cleaning robot provided in this application includes the following steps:

[0041] S101, the cleaning robot moves along the first path to clean.

[0042] The cleaning robot's path can be either a bow-shaped path, where the robot moves back and forth within the cleaning area, with a certain width between each back-and-forth movement, until the entire cleaning area is cleaned. Alternatively, it can be a spiral path, where the robot cleans in a spiral motion from the inside out or from the outside in within the cleaning area, with a certain width between adjacent inner and outer circles, until the entire cleaning area is cleaned.

[0043] The first path is a straight segment within a bow-shaped or loop-shaped path.

[0044] S102, the cleaning robot moves along the second path adjacent to the first path to clean.

[0045] In this case, the cleaning robot's mopping components have overlapping areas when it travels along the first path and the second path.

[0046] When the cleaning robot's path is in a bow shape, the first path and the second path are two adjacent straight line segments traveling in the same direction, respectively. When the cleaning robot's path is in a U-shape, the first path and the second path are two segments traveling in the same direction within two adjacent inner and outer loops.

[0047] The mop cleans the ground by covering it. The overlapping area refers to the area where the mop covers the same area when the cleaning robot walks on two adjacent paths.

[0048] The essence of floor cleaning with a mop is that the mop's target is the dirt on the floor, not the floor itself. The friction between the mop and the dirt is greater than the friction between the floor and the dirt, so the mop can scrape dust and dirt off the floor and adhere to it. Therefore, the amount of work done by the mop to overcome the friction of the dirt on the floor determines the degree of cleaning effect of the mop.

[0049] When the cleaning robot moves forward in a straight line and drags across the ground, let f be the frictional force exerted by the mopping components against the dirt, and let W be the work done by f over a time t. Then W = f × t. And f = u × Fn, where u is the coefficient of friction between the mopping components and a certain dirt, and F is the pressure exerted by the mopping components on the dirt. n Since it can be considered constant, f remains constant. The work time t = S / V, where V is the robot's constant linear motion speed, and S is the length of the wiping component that passes over or rubs a point on the dirt, which depends on the shape and position of the wiping component. Therefore, the equation... In this system, only S is a variable. The size of S determines the amount of work done, which in turn determines the degree to which the dirt is cleaned.

[0050] This application embodiment limits the width of the overlapping area between the first path and the second path. On the one hand, it limits the minimum width of the overlapping area, compensating for the uneven cleaning caused by the different areas on both sides and in the middle of the mop. On the other hand, it limits the maximum width of the overlapping area, avoiding waste of the cleaning robot's power and improving cleaning efficiency.

[0051] When the wiping component is a rotary wiping component, it can be either a double-circular rotary component or a single-circular rotary component. For an example of a double-circular rotary component, see [link to example]. Figure 2 The bottom of the main unit 200 of the cleaning robot is equipped with two mops 201 with a radius of R1.

[0052] See Figure 3The cleaning robot's walking path is bow-shaped. During the round-trip cleaning process, the width of the overlapping area between adjacent first paths (outbound path, upward) and second paths (return path, downward) is L1. The width of the overlapping area L1 can be limited by controlling the cleaning robot's walking width M in the bow-shaped path, such that 0.1R1≤L1≤0.4R1. The optimal width of the overlapping area is L1=0.25R1. The verification process is as follows.

[0053] For a circular mop, S indicates as follows: Figure 4 As shown. Draw a straight line 002 parallel to the forward direction of the mop 201 through the dirt spot 001. The length of the line segment where the line 002 intersects the mop 201 is S, which is the line segment that the dirt spot 001 passes through on the mop 201. V is the moving speed of the cleaning robot.

[0054] W is directly proportional to the degree of cleanliness. Given a constant forward speed, the larger S is, the larger W is. If we plot the mopping width on the x-axis and the degree of cleanliness on the y-axis, then the upper semicircle of the mop 201 passes through a line on the floor. The cleaning time at each point on this line can be calculated as follows: Figure 5 The rectangular coordinate system shown is used to represent this.

[0055] Because the uneven area of ​​the mop in the width direction leads to uneven cleaning of the floor or dirt by the cleaning robot, this application compensates for the uneven cleaning caused by the shape of the mop by overlapping the mopping areas. At the same time, the width of the overlapping area is limited to control the working time of the cleaning robot. The uniformity of cleaning is reflected in the minimum variance. The cleaning robot has a short working time and is most energy-efficient, which is achieved by making the bow-shaped walking width M as wide as possible.

[0056] by Figure 2 The mop shape of the cleaning robot shown is used to establish a mathematical model to solve the relationship between the width of the overlapping area of ​​the first and second paths and the variance of the cleaning degree. First, a coordinate system is established as follows: Figure 6 As shown, when the same mop crosses the same horizontal line twice, due to symmetry, the calculation can be simplified by using only the two upper semicircles.

[0057] Let f(x) represent the degree of cleanliness, which also represents the work done by the mop to overcome the friction of dirt on the floor. x is the horizontal distance 1 from the center of the right turntable, and L1 is the overlap width of the cleaning area, which also affects the range of x. Since the interval [R1-L1, R1] is the superposition of the areas of the two upper semicircles, f(x) can be written as a piecewise function of three intervals. The relationships for the intervals [-R1, R1-L1] and [R1, 3R1-L1] are x² + y² = R1² and [x - (2R1-L1)]² + y² = R1², respectively. The relationship for the interval [R1-L1, R1] is the sum of the y values ​​of the two relationships. We obtain:

[0058]

[0059] The formula for calculating the average value EX is:

[0060]

[0061] When L1 = 0.25R1, let R1 = 1, and plot the curve of the function f(x) EX as follows: Figure 7 As shown. The vertical axis represents the degree of cleanliness, and the horizontal axis represents the horizontal distance.

[0062] The formula for calculating variance DX is:

[0063]

[0064] Calculate the DX values ​​corresponding to different values ​​of the overlapping region width L1 within the range [0, 2R1], and plot the curves as shown below. Figure 8 As shown.

[0065] Calculations show that when L1 is within the interval [0, 2R1], and L1 = 0.25r, the variance DX of the cleaning degree is minimized, ensuring the most uniform cleaning effect. In this embodiment, the overlap area width L1 is set to 0.1R1 ≤ L1 ≤ 0.4R1. Figure 9 The range indicated by the black horizontal line.

[0066] For rotary mops of other shapes, take the maximum radius as r, because for the same radius, the circle has the largest area. If the cleaning degree is to be the most uniform, the width of its overlapping area will be larger than L1. Similarly, it is required that 0.1r≤L1≤0.4r.

[0067] Furthermore, in the dual-circular rotating mop of this embodiment, the edges of the two circular rotating components intersect, and the width of the intersecting portion on the line connecting the centers of the two circles is 1-5 mm. Each mopping component includes a mop body and an edging, the edging having outwardly extending cleaning strips. The aforementioned intersecting portion is the part where the cleaning strips of the two mopping components intersect. Setting the cleaning strips to intersect can, on the one hand, compensate for the uneven cleaning between the two circular rotating mops, and on the other hand, ensure that the two circular rotating mops rotate normally for cleaning, achieving optimal cleaning efficiency.

[0068] When the mop attachment is a fixed type, it can be a crescent-shaped attachment, a semi-circular attachment, or a circular attachment. A crescent shape is the shape formed by cutting the circle with a chord connecting any two points. See the example of a crescent-shaped attachment. Figure 10 A crescent-shaped mop 202 is fixed to the bottom rear end of the main unit 200 of the cleaning robot. Let the radius of the circle corresponding to the mop 202 be R2. (See also...) Figure 11The cleaning robot follows a bow-shaped cleaning path. During the round-trip cleaning process, the width of the overlapping area between adjacent first paths (outbound path, upward) and second paths (return path, downward) is L2. The width L2 of the overlapping area can be limited by controlling the walking width M of the cleaning robot in the bow-shaped path, such that 0.1R2≤L2≤0.45R2, and the optimal width is L2=0.3R2. The verification process is as follows.

[0069] by Figure 10 A mathematical model is established for the mop pattern of the cleaning robot shown to solve the relationship between the width of the overlapping area between the first and second paths and the variance of the cleaning degree. First, a model is established as follows... Figure 12 In the coordinate system shown, the chord length of the crescent-shaped mop is 2a, and the radius is R2.

[0070] Let f(x) represent the degree of cleanliness, which also represents the work done by the mop to overcome the friction of dirt on the ground. x is the horizontal distance from the center of the circle on the first path of the mop 202, L2 is the overlap width of the cleaning area, which also affects the range of x, and a is half the chord length of the mop. Then the degree of cleanliness function is obtained as:

[0071]

[0072] The formula for calculating the average value is:

[0073]

[0074] In a certain implementation scheme, let a be 0.8R², meaning the chord length of the crescent-shaped mop is 1.6R². When L² = 0.3R², let R² = 1, and plot the function curves f(x) and EX as follows: Figure 13 As shown. The vertical axis represents the degree of cleanliness, and the horizontal axis represents the horizontal distance.

[0075] The formula for calculating variance is:

[0076]

[0077] Calculate the DX values ​​corresponding to different values ​​of the overlapping region width L2 within the range of 0 to 2a, and plot the curves as shown below. Figure 14 As shown.

[0078] Calculations show that when the chord length of the crescent-shaped mop is 1.6R², L² falls within the interval [0, 1.6R²]. When L² = 0.3R², the variance DX of the cleaning level is minimized, ensuring the most uniform cleaning effect. In this embodiment, the overlap area width L is set to 0.1R² ≤ L² ≤ 0.45R². Figure 15 As shown by the black horizontal line in the middle.

Claims

1. A mopping method using a cleaning robot, wherein the cleaning robot has a mopping component at its bottom, characterized in that, The mopping method includes: The cleaning robot moves along the first path to clean; Then, the cleaning robot proceeds to clean along a second path adjacent to the first path; The cleaning robot has overlapping areas when it travels along the first path and when it travels along the second path; The width of the overlapping area is determined by minimizing the variance in cleanliness to optimize the uniformity of the cleaning robot's cleaning of the ground. When the wiping component is a double-circular rotating component, the width L1 of the overlapping area satisfies 0.1R1≤L1≤0.4R1, where R1 is the radius of the circular rotating component, and the cleaning degree function f(x) is: The formula for calculating the average value EX is: , The variance DX of cleanliness is: x is the horizontal distance from the center of the right turntable; When the mopping component is a crescent-shaped fixing component, the width L2 of the overlapping area satisfies 0.1R2≤L2≤0.45R2, where R2 is the radius of the circle corresponding to the crescent-shaped fixing component, and the cleaning degree function f(x) is: ， The formula for calculating the average value is: , The variance DX of cleanliness is: x is the horizontal distance from the center of the mop on the first path, and a is half the length of the mop chord.

2. The mopping method according to claim 1, characterized in that, When the wiping component is a double-circular rotating component, the overlapping area L1 = 0.25R1.

3. The mopping method according to claim 1, characterized in that, When the dragging component is a crescent-shaped fixing component, the overlapping area L2 = 0.3R2.

4. The mopping method according to claim 1, characterized in that, The cleaning robot's walking path is a bow-shaped path or a square-shaped path, and the first path and the second path are a segment of either the bow-shaped path or the square-shaped path.

5. The mopping method according to claim 4, characterized in that, When the cleaning robot's walking path is a bow-shaped path, the first path and the second path are two adjacent paths with opposite directions of travel in the bow-shaped path.

6. The mopping method according to claim 4, characterized in that, When the cleaning robot's walking path is a U-shaped path, the first path and the second path are two segments of the inner and outer adjacent loops of the U-shaped path with the same direction of travel.

7. The mopping method according to claim 1, characterized in that, The cleaning robot is equipped with a roller brush at the bottom front end.

8. The mopping method according to claim 7, characterized in that, The mopping component is located at the bottom rear end of the cleaning robot.

9. The mopping method according to claim 1, characterized in that, When the wiping component is a double-circular rotating component, the edges of the two circular rotating components have an intersecting portion, and the width of the intersecting portion on the line connecting the centers of the two circles is 1~5mm.

10. The mopping method according to claim 9, characterized in that, The mopping component includes a mop body and an edge, the edge having outwardly extending cleaning strips, and the intersecting portion being the part where the cleaning strips of two mopping components intersect.

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